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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#ifndef _SIM_MAIN_NODE_H
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#define _SIM_MAIN_NODE_H
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#include "simulation/gz_msgs/msgs.h"
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#include <gazebo/transport/transport.hh>
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#include <gazebo/gazebo_client.hh>
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using namespace gazebo;
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class MainNode {
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public:
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static MainNode* GetInstance() {
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static MainNode instance;
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return &instance;
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}
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template<typename M>
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static transport::PublisherPtr Advertise(const std::string &topic,
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unsigned int _queueLimit = 10,
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bool _latch = false) {
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return GetInstance()->main->Advertise<M>(topic, _queueLimit, _latch);
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}
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template<typename M, typename T>
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static transport::SubscriberPtr Subscribe(const std::string &topic,
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void(T::*fp)(const boost::shared_ptr<M const> &), T *obj,
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bool _latching = false) {
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return GetInstance()->main->Subscribe(topic, fp, obj, _latching);
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}
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template<typename M>
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static transport::SubscriberPtr Subscribe(const std::string &topic,
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void(*fp)(const boost::shared_ptr<M const> &),
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bool _latching = false) {
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return GetInstance()->main->Subscribe(topic, fp, _latching);
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}
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transport::NodePtr main;
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private:
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MainNode() {
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bool success = gazebo::client::setup();
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if (success){
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main = transport::NodePtr(new transport::Node());
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main->Init("frc");
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gazebo::transport::run();
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}
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else {
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std::cout << "An error has occured setting up gazebo_client!" << std::endl;
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}
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}
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};
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#endif
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